Comparison of Feedback Control Laws for Robotic Arm ManipulatorsDepartment of Mechanical Engineering, College of Engineering, University of South Carolina, 1988 - Automatic control - 194 pages |
Common terms and phrases
20 CONTINUE angle theta angular momentum Call MTSAV cancellation technique CICOL CIROW COMMON/CONSTANT constant gain technique contains only NROW CONTINUE C Call control system control vector damping ratio desired final DOUBLE PRECISION dynamic matrix ENDIF feedback control laws final position final time tf following subroutine formatted manner gain matrix corresponding gain scheduling technique Gravity constant Mass Hamiltonian mechanics IMPLICIT REAL*8 A-H,O-Z input file OPDATA.GAIN INPUT PARAMETERS INTERNAL PARAMETERS IROW linear feedback control linear interpolation linear regulator linear system link position M,NPTS matrix input file MATRIXX plot momenta MTSAV to save N,NPTS number of colums number of intervals number of rows One-Link Manipulator Open-Loop Control optimal control analysis optimal control theory Optimal feedback gains OUTPUT PARAMETERS PARAMETERS AND ARRAYS poleplacement technique robot arm manipulator row number runge kutta save the output simulation Step response SUBROUTINE CALLED system and dimension t+dt technique using optimal technique using poleplacement Two-Link Manipulator XF C UF